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- W1985862021 abstract "We present an automatic system for planning the (translational and rotational) collision-free motion of a convex polygonal body B in two-dimensional space bounded by a collection of polygonal obstacles. The system consists of a (combinatorial, non-heuristic) motion planning algorithm, based on sophisticated algorithmic and combinatorial techniques in computational geometry, and is implemented on a Cartesian robot system equipped with a 2-D vision system. Our algorithm runs in the worst-case in time O(knl6(kn) log kn), where k is the number of sides of B, n is the total number of obstacle edges, and l6(r) is the (nearly-linear) maximum length of an (r, 6) Davenport Schinzel sequence. Our implemented system provides an “intelligent” robot that, using its attached vision system, can acquire a geometric description of the robot and its polygonal environment, and then, given a high-level motion command from the user, can plan a collision-free path (if one exists), and then go ahead and execute that motion." @default.
- W1985862021 created "2016-06-24" @default.
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- W1985862021 date "1988-01-01" @default.
- W1985862021 modified "2023-10-17" @default.
- W1985862021 title "An automatic motion planning system for a convex polygonal mobile robot in 2-dimensional polygonal space" @default.
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- W1985862021 doi "https://doi.org/10.1145/73393.73427" @default.
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